Siemens S7-1200 - Configuring the To_Commandtable_Pto

Technology instructions
9.3 Motion control
S7-1200 Programmable controller
452 System Manual, 03/2014, A5E02486680-AG
9.3.4
Configuring the TO_CommandTable_PTO
You can configure a CommandTable instruction using the Technology objects.
Adding a Technology object
1. In the Project tree, expand the node "Technology Objects" and select "Add new object".
2. Select the "CommandTable" icon (rename if required), and click "OK" to open the
configuration editor for the CommandTable object.
Planning the steps for your application
You can create the desired movement sequence in the "Command Table" configuration
window, and check the result against the graphic view in the trend diagram.
You can select the command types that are to be used for processing the command table.
Up to 32 steps can be entered. The commands are processed in sequence, easily producing
a complex motion profile.
Table 9- 27 MC_CommandTable command types
Command type
Description
Empty The empty serves as a placeholder for any commands to be added. The empty entry is
ignored when the command table is processed
Halt Pause axis.
Note: The command only takes place after a "Velocity setpoint" command.
Positioning Relative Positions the axis based upon distance. The command moves the axis by the given
distance and velocity.
Positioning Absolute Positions the axis based upon location. The command moves the axis to the given
location, using the velocity specified.
Velocity setpoint
Moves the axis at the given velocity.